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I am slightly confused about the concept of contraction rate. For me it sounds equivalent to a convergence rate. Could somebody clear up the difference for me? I have those two definitions of convergence and contraction rate from the book Numerical Optimal Control (M. Diehl): enter image description here enter image description here

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  • $\begingroup$ Easiest way to understand the difference is to draw a 1D figure. $\endgroup$ – Biswajit Banerjee Jul 2 '19 at 3:05

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